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AP_SerialManager: removed unnecessary uart pointer in state structure

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This commit is contained in:
Andrew Tridgell 2020-12-11 11:56:28 +11:00
parent 348dfeff6e
commit 5406699ec8
2 changed files with 45 additions and 69 deletions
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111
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -351,10 +351,12 @@ void AP_SerialManager::init_console()
{ {
// initialise console immediately at default size and baud // initialise console immediately at default size and baud
#if SERIALMANAGER_NUM_PORTS > 0 #if SERIALMANAGER_NUM_PORTS > 0
state[0].uart = hal.serial(0); // serial0, uartA, always console if (!init_console_done) {
state[0].uart->begin(AP_SERIALMANAGER_CONSOLE_BAUD, init_console_done = true;
AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX, hal.serial(0)->begin(AP_SERIALMANAGER_CONSOLE_BAUD,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX); AP_SERIALMANAGER_CONSOLE_BUFSIZE_RX,
AP_SERIALMANAGER_CONSOLE_BUFSIZE_TX);
}
#endif #endif
} }
@ -366,32 +368,6 @@ void AP_SerialManager::init()
// always reset passthru port2 on boot // always reset passthru port2 on boot
passthru_port2.set_and_save_ifchanged(-1); passthru_port2.set_and_save_ifchanged(-1);
// initialise pointers to serial ports
#if SERIALMANAGER_NUM_PORTS > 1
state[1].uart = hal.serial(1); // serial1, uartC, normally telem1
#endif
#if SERIALMANAGER_NUM_PORTS > 2
state[2].uart = hal.serial(2); // serial2, uartD, normally telem2
#endif
#if SERIALMANAGER_NUM_PORTS > 3
state[3].uart = hal.serial(3); // serial3, uartB, normally 1st GPS
#endif
#if SERIALMANAGER_NUM_PORTS > 4
state[4].uart = hal.serial(4); // serial4, uartE, normally 2nd GPS
#endif
#if SERIALMANAGER_NUM_PORTS > 5
state[5].uart = hal.serial(5); // serial5, uartF, User Configurable
#endif
#if SERIALMANAGER_NUM_PORTS > 6
state[6].uart = hal.serial(6); // serial6, uartG, User Configurable
#endif
#if SERIALMANAGER_NUM_PORTS > 7
state[7].uart = hal.serial(7); // serial7, uartH, User Configurable
#endif
#if SERIALMANAGER_NUM_PORTS > 8
state[8].uart = hal.serial(8); // serial8, uartI, User Configurable
#endif
#ifdef HAL_OTG1_CONFIG #ifdef HAL_OTG1_CONFIG
/* /*
prevent users from changing USB protocol to other than prevent users from changing USB protocol to other than
@ -404,16 +380,13 @@ void AP_SerialManager::init()
} }
#endif #endif
#if SERIALMANAGER_NUM_PORTS > 0 init_console();
if (state[0].uart == nullptr) {
init_console();
}
#endif
// initialise serial ports // initialise serial ports
for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) { for (uint8_t i=1; i<SERIALMANAGER_NUM_PORTS; i++) {
auto *uart = hal.serial(i);
if (state[i].uart != nullptr) { if (uart != nullptr) {
// see if special options have been requested // see if special options have been requested
if (state[i].protocol != SerialProtocol_None && state[i].options) { if (state[i].protocol != SerialProtocol_None && state[i].options) {
@ -426,7 +399,7 @@ void AP_SerialManager::init()
case SerialProtocol_Console: case SerialProtocol_Console:
case SerialProtocol_MAVLink: case SerialProtocol_MAVLink:
case SerialProtocol_MAVLink2: case SerialProtocol_MAVLink2:
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX, AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX,
AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX); AP_SERIALMANAGER_MAVLINK_BUFSIZE_TX);
break; break;
@ -443,21 +416,21 @@ void AP_SerialManager::init()
break; break;
case SerialProtocol_GPS: case SerialProtocol_GPS:
case SerialProtocol_GPS2: case SerialProtocol_GPS2:
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_GPS_BUFSIZE_RX, AP_SERIALMANAGER_GPS_BUFSIZE_RX,
AP_SERIALMANAGER_GPS_BUFSIZE_TX); AP_SERIALMANAGER_GPS_BUFSIZE_TX);
break; break;
case SerialProtocol_AlexMos: case SerialProtocol_AlexMos:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD, uart->begin(AP_SERIALMANAGER_ALEXMOS_BAUD,
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX, AP_SERIALMANAGER_ALEXMOS_BUFSIZE_RX,
AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX); AP_SERIALMANAGER_ALEXMOS_BUFSIZE_TX);
break; break;
case SerialProtocol_SToRM32: case SerialProtocol_SToRM32:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_SToRM32_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_SToRM32_BUFSIZE_RX, AP_SERIALMANAGER_SToRM32_BUFSIZE_RX,
AP_SERIALMANAGER_SToRM32_BUFSIZE_TX); AP_SERIALMANAGER_SToRM32_BUFSIZE_TX);
break; break;
@ -467,56 +440,56 @@ void AP_SerialManager::init()
case SerialProtocol_Volz: case SerialProtocol_Volz:
// Note baudrate is hardcoded to 115200 // Note baudrate is hardcoded to 115200
state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_VOLZ_BAUD; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_VOLZ_BUFSIZE_RX, AP_SERIALMANAGER_VOLZ_BUFSIZE_RX,
AP_SERIALMANAGER_VOLZ_BUFSIZE_TX); AP_SERIALMANAGER_VOLZ_BUFSIZE_TX);
state[i].uart->set_unbuffered_writes(true); uart->set_unbuffered_writes(true);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_Sbus1: case SerialProtocol_Sbus1:
state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_SBUS1_BAUD / 1000; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_SBUS1_BUFSIZE_RX, AP_SERIALMANAGER_SBUS1_BUFSIZE_RX,
AP_SERIALMANAGER_SBUS1_BUFSIZE_TX); AP_SERIALMANAGER_SBUS1_BUFSIZE_TX);
state[i].uart->configure_parity(2); // enable even parity uart->configure_parity(2); // enable even parity
state[i].uart->set_stop_bits(2); uart->set_stop_bits(2);
state[i].uart->set_unbuffered_writes(true); uart->set_unbuffered_writes(true);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_ESCTelemetry: case SerialProtocol_ESCTelemetry:
// ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200 // ESC telemetry protocol from BLHeli32 ESCs. Note that baudrate is hardcoded to 115200
state[i].baud = 115200; state[i].baud = 115200;
state[i].uart->begin(map_baudrate(state[i].baud), 30, 30); uart->begin(map_baudrate(state[i].baud), 30, 30);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_Robotis: case SerialProtocol_Robotis:
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX, AP_SERIALMANAGER_ROBOTIS_BUFSIZE_RX,
AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX); AP_SERIALMANAGER_ROBOTIS_BUFSIZE_TX);
state[i].uart->set_unbuffered_writes(true); uart->set_unbuffered_writes(true);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_SLCAN: case SerialProtocol_SLCAN:
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_SLCAN_BUFSIZE_RX, AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
AP_SERIALMANAGER_SLCAN_BUFSIZE_TX); AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
break; break;
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
case SerialProtocol_RCIN: case SerialProtocol_RCIN:
AP::RC().add_uart(state[i].uart); AP::RC().add_uart(uart);
break; break;
#endif #endif
case SerialProtocol_EFI_MS: case SerialProtocol_EFI_MS:
state[i].baud = AP_SERIALMANAGER_EFI_MS_BAUD; // update baud param in case user looks at it state[i].baud = AP_SERIALMANAGER_EFI_MS_BAUD; // update baud param in case user looks at it
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX, AP_SERIALMANAGER_EFI_MS_BUFSIZE_RX,
AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX); AP_SERIALMANAGER_EFI_MS_BUFSIZE_TX);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
break; break;
case SerialProtocol_Generator: case SerialProtocol_Generator:
@ -526,15 +499,15 @@ void AP_SerialManager::init()
case SerialProtocol_DJI_FPV: case SerialProtocol_DJI_FPV:
// baudrate defaults to 115200 // baudrate defaults to 115200
state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000); state[i].baud.set_default(AP_SERIALMANAGER_MSP_BAUD/1000);
state[i].uart->begin(map_baudrate(state[i].baud), uart->begin(map_baudrate(state[i].baud),
AP_SERIALMANAGER_MSP_BUFSIZE_RX, AP_SERIALMANAGER_MSP_BUFSIZE_RX,
AP_SERIALMANAGER_MSP_BUFSIZE_TX); AP_SERIALMANAGER_MSP_BUFSIZE_TX);
state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
// Note init is handled by AP_MSP // Note init is handled by AP_MSP
break; break;
#endif #endif
default: default:
state[i].uart->begin(map_baudrate(state[i].baud)); uart->begin(map_baudrate(state[i].baud));
} }
} }
} }
@ -568,7 +541,8 @@ AP_HAL::UARTDriver *AP_SerialManager::find_serial(enum SerialProtocol protocol,
if (_state == nullptr) { if (_state == nullptr) {
return nullptr; return nullptr;
} }
return _state->uart; const uint8_t serial_idx = _state - &state[0];
return hal.serial(serial_idx);
} }
// find_baudrate - searches available serial ports for the first instance that allows the given protocol // find_baudrate - searches available serial ports for the first instance that allows the given protocol
@ -631,7 +605,7 @@ AP_SerialManager::SerialProtocol AP_SerialManager::get_mavlink_protocol(mavlink_
AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id) AP_HAL::UARTDriver *AP_SerialManager::get_serial_by_id(uint8_t id)
{ {
if (id < SERIALMANAGER_NUM_PORTS) { if (id < SERIALMANAGER_NUM_PORTS) {
return state[id].uart; return hal.serial(id);
} }
return nullptr; return nullptr;
} }
@ -641,8 +615,9 @@ void AP_SerialManager::set_blocking_writes_all(bool blocking)
{ {
// set block_writes for all initialised serial ports // set block_writes for all initialised serial ports
for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) { for (uint8_t i=0; i<SERIALMANAGER_NUM_PORTS; i++) {
if (state[i].uart != nullptr) { auto *uart = hal.serial(i);
state[i].uart->set_blocking_writes(blocking); if (uart != nullptr) {
uart->set_blocking_writes(blocking);
} }
} }
} }
@ -714,7 +689,7 @@ void AP_SerialManager::set_options(uint16_t i)
{ {
struct UARTState &opt = state[i]; struct UARTState &opt = state[i];
// pass through to HAL // pass through to HAL
if (!opt.uart->set_options(opt.options)) { if (!hal.serial(i)->set_options(opt.options)) {
hal.console->printf("Unable to setup options for Serial%u\n", i); hal.console->printf("Unable to setup options for Serial%u\n", i);
} }
} }
@ -729,8 +704,8 @@ bool AP_SerialManager::get_passthru(AP_HAL::UARTDriver *&port1, AP_HAL::UARTDriv
passthru_port1 >= SERIALMANAGER_NUM_PORTS) { passthru_port1 >= SERIALMANAGER_NUM_PORTS) {
return false; return false;
} }
port1 = state[passthru_port1].uart; port1 = hal.serial(passthru_port1);
port2 = state[passthru_port2].uart; port2 = hal.serial(passthru_port2);
baud1 = map_baudrate(state[passthru_port1].baud); baud1 = map_baudrate(state[passthru_port1].baud);
baud2 = map_baudrate(state[passthru_port2].baud); baud2 = map_baudrate(state[passthru_port2].baud);
timeout_s = MAX(passthru_timeout, 0); timeout_s = MAX(passthru_timeout, 0);

3
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -213,7 +213,6 @@ private:
struct UARTState { struct UARTState {
AP_Int8 protocol; AP_Int8 protocol;
AP_Int32 baud; AP_Int32 baud;
AP_HAL::UARTDriver* uart;
AP_Int16 options; AP_Int16 options;
} state[SERIALMANAGER_NUM_PORTS]; } state[SERIALMANAGER_NUM_PORTS];
@ -232,6 +231,8 @@ private:
// setup any special options // setup any special options
void set_options(uint16_t i); void set_options(uint16_t i);
bool init_console_done;
}; };
namespace AP { namespace AP {